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<li class="toctree-l4"><a class="reference internal" href="../../../../examples/get_robot_state/README.html">Get Robot State</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../../examples/docs/data_acquisition_examples.html">Data Acquisition Examples</a><ul>
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  <section id="module-bosdyn.client.robot_command">
<span id="robot-command"></span><h1>Robot Command<a class="headerlink" href="#module-bosdyn.client.robot_command" title="Permalink to this heading"></a></h1>
<p>For clients to the robot command service.</p>
<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandResponseError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">RobotCommandResponseError</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">response</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">error_message</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandResponseError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandResponseError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.ResponseError" title="bosdyn.client.exceptions.ResponseError"><code class="xref py py-class docutils literal notranslate"><span class="pre">ResponseError</span></code></a></p>
<p>General class of errors for RobotCommand service.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.Error">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">Error</span></span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#Error"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.Error" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.Error" title="bosdyn.client.exceptions.Error"><code class="xref py py-class docutils literal notranslate"><span class="pre">Error</span></code></a></p>
<p>Base class for non-response errors in this module.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.NoTimeSyncError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">NoTimeSyncError</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">response</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">error_message</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#NoTimeSyncError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.NoTimeSyncError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot_command.RobotCommandResponseError" title="bosdyn.client.robot_command.RobotCommandResponseError"><code class="xref py py-class docutils literal notranslate"><span class="pre">RobotCommandResponseError</span></code></a></p>
<p>Client has not done timesync with robot.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.ExpiredError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">ExpiredError</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">response</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">error_message</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#ExpiredError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.ExpiredError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot_command.RobotCommandResponseError" title="bosdyn.client.robot_command.RobotCommandResponseError"><code class="xref py py-class docutils literal notranslate"><span class="pre">RobotCommandResponseError</span></code></a></p>
<p>The command was received after its max_duration had already passed.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.TooDistantError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">TooDistantError</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">response</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">error_message</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#TooDistantError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.TooDistantError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot_command.RobotCommandResponseError" title="bosdyn.client.robot_command.RobotCommandResponseError"><code class="xref py py-class docutils literal notranslate"><span class="pre">RobotCommandResponseError</span></code></a></p>
<p>The command end time was too far in the future.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.NotPoweredOnError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">NotPoweredOnError</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">response</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">error_message</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#NotPoweredOnError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.NotPoweredOnError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot_command.RobotCommandResponseError" title="bosdyn.client.robot_command.RobotCommandResponseError"><code class="xref py py-class docutils literal notranslate"><span class="pre">RobotCommandResponseError</span></code></a></p>
<p>The robot must be powered on to accept a command.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.BehaviorFaultError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">BehaviorFaultError</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">response</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">error_message</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#BehaviorFaultError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.BehaviorFaultError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot_command.RobotCommandResponseError" title="bosdyn.client.robot_command.RobotCommandResponseError"><code class="xref py py-class docutils literal notranslate"><span class="pre">RobotCommandResponseError</span></code></a></p>
<p>The robot may not be commanded with uncleared behavior faults.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.DockedError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">DockedError</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">response</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">error_message</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#DockedError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.DockedError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot_command.RobotCommandResponseError" title="bosdyn.client.robot_command.RobotCommandResponseError"><code class="xref py py-class docutils literal notranslate"><span class="pre">RobotCommandResponseError</span></code></a></p>
<p>The command cannot be executed while the robot is docked.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.NotClearedError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">NotClearedError</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">response</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">error_message</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#NotClearedError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.NotClearedError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot_command.RobotCommandResponseError" title="bosdyn.client.robot_command.RobotCommandResponseError"><code class="xref py py-class docutils literal notranslate"><span class="pre">RobotCommandResponseError</span></code></a></p>
<p>Behavior fault could not be cleared.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.UnsupportedError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">UnsupportedError</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">response</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">error_message</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#UnsupportedError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.UnsupportedError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot_command.RobotCommandResponseError" title="bosdyn.client.robot_command.RobotCommandResponseError"><code class="xref py py-class docutils literal notranslate"><span class="pre">RobotCommandResponseError</span></code></a></p>
<p>The API supports this request, but the system does not support this request.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.CommandFailedError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">CommandFailedError</span></span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#CommandFailedError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.CommandFailedError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot_command.Error" title="bosdyn.client.robot_command.Error"><code class="xref py py-class docutils literal notranslate"><span class="pre">Error</span></code></a></p>
<p>Command indicated it failed in its feedback.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.CommandFailedErrorWithFeedback">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">CommandFailedErrorWithFeedback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">message</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">feedback</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#CommandFailedErrorWithFeedback"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.CommandFailedErrorWithFeedback" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot_command.CommandFailedError" title="bosdyn.client.robot_command.CommandFailedError"><code class="xref py py-class docutils literal notranslate"><span class="pre">CommandFailedError</span></code></a></p>
<p>Command indicated it failed in its feedback.
This subclass contains the feedback response causing the error.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.CommandTimedOutError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">CommandTimedOutError</span></span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#CommandTimedOutError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.CommandTimedOutError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot_command.Error" title="bosdyn.client.robot_command.Error"><code class="xref py py-class docutils literal notranslate"><span class="pre">Error</span></code></a></p>
<p>Timed out waiting for SUCCESS response from robot command.</p>
</dd></dl>

<dl class="py exception">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.UnknownFrameError">
<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">UnknownFrameError</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">response</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">error_message</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#UnknownFrameError"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.UnknownFrameError" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="#bosdyn.client.robot_command.RobotCommandResponseError" title="bosdyn.client.robot_command.RobotCommandResponseError"><code class="xref py py-class docutils literal notranslate"><span class="pre">RobotCommandResponseError</span></code></a></p>
<p>Robot does not know how to handle supplied frame.</p>
</dd></dl>

<dl class="py class">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandClient">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">RobotCommandClient</span></span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandClient"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandClient" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="common.html#bosdyn.client.common.BaseClient" title="bosdyn.client.common.BaseClient"><code class="xref py py-class docutils literal notranslate"><span class="pre">BaseClient</span></code></a></p>
<p>Client for calling RobotCommand services.</p>
<dl class="py attribute">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandClient.default_service_name">
<span class="sig-name descname"><span class="pre">default_service_name</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'robot-command'</span></em><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandClient.default_service_name" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py attribute">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandClient.service_type">
<span class="sig-name descname"><span class="pre">service_type</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'bosdyn.api.RobotCommandService'</span></em><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandClient.service_type" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandClient.update_from">
<span class="sig-name descname"><span class="pre">update_from</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandClient.update_from"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandClient.update_from" title="Permalink to this definition"></a></dt>
<dd><p>Update instance from another object.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>other</strong> – The object where to copy from.</p>
</dd>
</dl>
</dd></dl>

<dl class="py property">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandClient.timesync_endpoint">
<em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">timesync_endpoint</span></span><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandClient.timesync_endpoint" title="Permalink to this definition"></a></dt>
<dd><p>Accessor for timesync-endpoint that was grabbed via ‘update_from()’.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandClient.robot_command">
<span class="sig-name descname"><span class="pre">robot_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">end_time_secs</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timesync_endpoint</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lease</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandClient.robot_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandClient.robot_command" title="Permalink to this definition"></a></dt>
<dd><p>Issue a command to the robot synchronously.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>command</strong> – Command to issue.</p></li>
<li><p><strong>end_time_secs</strong> – End time for the command in seconds.</p></li>
<li><p><strong>timesync_endpoint</strong> – Timesync endpoint.</p></li>
<li><p><strong>lease</strong> – Lease object to use for the command.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>ID of the issued robot command.</p>
</dd>
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – Problem communicating with the robot.</p></li>
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.InvalidRequestError" title="bosdyn.client.exceptions.InvalidRequestError"><strong>bosdyn.client.exceptions.InvalidRequestError</strong></a> – Invalid request received by the robot.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.UnsupportedError" title="bosdyn.client.robot_command.UnsupportedError"><strong>UnsupportedError</strong></a> – The API supports this request, but the system does not support this
    request.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.NoTimeSyncError" title="bosdyn.client.robot_command.NoTimeSyncError"><strong>bosdyn.client.robot_command.NoTimeSyncError</strong></a> – Client has not done timesync with robot.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.ExpiredError" title="bosdyn.client.robot_command.ExpiredError"><strong>ExpiredError</strong></a> – The command was received after its max_duration had already passed.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.TooDistantError" title="bosdyn.client.robot_command.TooDistantError"><strong>bosdyn.client.robot_command.TooDistantError</strong></a> – The command end time was too far in the future.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.NotPoweredOnError" title="bosdyn.client.robot_command.NotPoweredOnError"><strong>NotPoweredOnError</strong></a> – The robot must be powered on to accept a command.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.BehaviorFaultError" title="bosdyn.client.robot_command.BehaviorFaultError"><strong>BehaviorFaultError</strong></a> – The robot is faulted and the fault must be cleared first.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.DockedError" title="bosdyn.client.robot_command.DockedError"><strong>DockedError</strong></a> – The command cannot be executed while the robot is docked.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.UnknownFrameError" title="bosdyn.client.robot_command.UnknownFrameError"><strong>bosdyn.client.robot_command.UnknownFrameError</strong></a> – Robot does not know how to handle supplied frame.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandClient.robot_command_async">
<span class="sig-name descname"><span class="pre">robot_command_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">end_time_secs</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timesync_endpoint</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lease</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandClient.robot_command_async"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandClient.robot_command_async" title="Permalink to this definition"></a></dt>
<dd><p>Async version of robot_command().</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>command</strong> – Command to issue.</p></li>
<li><p><strong>end_time_secs</strong> – End time for the command in seconds.</p></li>
<li><p><strong>timesync_endpoint</strong> – Timesync endpoint.</p></li>
<li><p><strong>lease</strong> – Lease object to use for the command.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>ID of the issued robot command.</p>
</dd>
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – Problem communicating with the robot.</p></li>
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.InvalidRequestError" title="bosdyn.client.exceptions.InvalidRequestError"><strong>bosdyn.client.exceptions.InvalidRequestError</strong></a> – Invalid request received by the robot.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.UnsupportedError" title="bosdyn.client.robot_command.UnsupportedError"><strong>UnsupportedError</strong></a> – The API supports this request, but the system does not support this
    request.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.NoTimeSyncError" title="bosdyn.client.robot_command.NoTimeSyncError"><strong>bosdyn.client.robot_command.NoTimeSyncError</strong></a> – Client has not done timesync with robot.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.ExpiredError" title="bosdyn.client.robot_command.ExpiredError"><strong>ExpiredError</strong></a> – The command was received after its max_duration had already passed.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.TooDistantError" title="bosdyn.client.robot_command.TooDistantError"><strong>bosdyn.client.robot_command.TooDistantError</strong></a> – The command end time was too far in the future.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.NotPoweredOnError" title="bosdyn.client.robot_command.NotPoweredOnError"><strong>NotPoweredOnError</strong></a> – The robot must be powered on to accept a command.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.UnknownFrameError" title="bosdyn.client.robot_command.UnknownFrameError"><strong>bosdyn.client.robot_command.UnknownFrameError</strong></a> – Robot does not know how to handle supplied frame.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandClient.robot_command_feedback">
<span class="sig-name descname"><span class="pre">robot_command_feedback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot_command_id</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandClient.robot_command_feedback"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandClient.robot_command_feedback" title="Permalink to this definition"></a></dt>
<dd><p>Get feedback from a previously issued command.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>robot_command_id</strong> – ID of the robot command to get feedback on.</p>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – Problem communicating with the robot.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandClient.robot_command_feedback_async">
<span class="sig-name descname"><span class="pre">robot_command_feedback_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot_command_id</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandClient.robot_command_feedback_async"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandClient.robot_command_feedback_async" title="Permalink to this definition"></a></dt>
<dd><p>Async version of robot_command_feedback().</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>robot_command_id</strong> – ID of the robot command to get feedback on.</p>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – Problem communicating with the robot.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandClient.clear_behavior_fault">
<span class="sig-name descname"><span class="pre">clear_behavior_fault</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">behavior_fault_id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lease</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandClient.clear_behavior_fault"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandClient.clear_behavior_fault" title="Permalink to this definition"></a></dt>
<dd><p>Clear a behavior fault on the robot.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>behavior_fault_id</strong> – ID of the behavior fault.</p></li>
<li><p><strong>lease</strong> – Lease information to use in the message.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Boolean whether response status is STATUS_CLEARED.</p>
</dd>
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – Problem communicating with the robot.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.NotClearedError" title="bosdyn.client.robot_command.NotClearedError"><strong>NotClearedError</strong></a> – Behavior fault could not be cleared.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandClient.clear_behavior_fault_async">
<span class="sig-name descname"><span class="pre">clear_behavior_fault_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">behavior_fault_id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lease</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandClient.clear_behavior_fault_async"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandClient.clear_behavior_fault_async" title="Permalink to this definition"></a></dt>
<dd><p>Async version of clear_behavior_fault().</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>behavior_fault_id</strong> – </p></li>
<li><p><strong>lease</strong> – </p></li>
<li><p><strong>behavior_fault_id</strong> – ID of the behavior fault.</p></li>
<li><p><strong>lease</strong> – Lease information to use in the message.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Boolean whether response status is STATUS_CLEARED.</p>
</dd>
<dt class="field-odd">Raises<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><a class="reference internal" href="exceptions.html#bosdyn.client.exceptions.RpcError" title="bosdyn.client.exceptions.RpcError"><strong>RpcError</strong></a> – Problem communicating with the robot.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.NotClearedError" title="bosdyn.client.robot_command.NotClearedError"><strong>NotClearedError</strong></a> – Behavior fault could not be cleared.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

</dd></dl>

<dl class="py class">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandStreamingClient">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">RobotCommandStreamingClient</span></span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandStreamingClient"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandStreamingClient" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <a class="reference internal" href="common.html#bosdyn.client.common.BaseClient" title="bosdyn.client.common.BaseClient"><code class="xref py py-class docutils literal notranslate"><span class="pre">BaseClient</span></code></a></p>
<p>Client for calling RobotCommand services.</p>
<p>This client is in BETA and may undergo changes in future releases.</p>
<dl class="py attribute">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandStreamingClient.default_service_name">
<span class="sig-name descname"><span class="pre">default_service_name</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'robot-command-streaming'</span></em><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandStreamingClient.default_service_name" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py attribute">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandStreamingClient.service_type">
<span class="sig-name descname"><span class="pre">service_type</span></span><em class="property"><span class="w"> </span><span class="p"><span class="pre">=</span></span><span class="w"> </span><span class="pre">'bosdyn.api.RobotCommandStreamingService'</span></em><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandStreamingClient.service_type" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandStreamingClient.send_joint_control_commands">
<span class="sig-name descname"><span class="pre">send_joint_control_commands</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command_iterator</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandStreamingClient.send_joint_control_commands"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandStreamingClient.send_joint_control_commands" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

</dd></dl>

<dl class="py class">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">RobotCommandBuilder</span></span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder" title="Permalink to this definition"></a></dt>
<dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></p>
<p>This class contains a set of static helper functions to build and issue robot commands.</p>
<p>This is not intended to cover every use case, but rather give developers a starting point for
issuing commands to the robot.The robot command proto uses several advanced protobuf techniques,
including the use of Any and OneOf.</p>
<p>A RobotCommand is composed of one or more commands. The set of valid commands is robot /
hardware specific. An armless spot only accepts one command at a time. Each command may or may
not take a generic param object. These params are also robot / hardware dependent.</p>
<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.stop_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">stop_command</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.stop_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.stop_command" title="Permalink to this definition"></a></dt>
<dd><p>Command to stop with minimal motion. If the robot is walking, it will transition to
stand. If the robot is standing or sitting, it will do nothing.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.freeze_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">freeze_command</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.freeze_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.freeze_command" title="Permalink to this definition"></a></dt>
<dd><p>Command to freeze all joints at their current positions (no balancing control)</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.selfright_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">selfright_command</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.selfright_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.selfright_command" title="Permalink to this definition"></a></dt>
<dd><p>Command to get the robot in a ready, sitting position. If the robot is on its back, it
will attempt to flip over.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.battery_change_pose_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">battery_change_pose_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">dir_hint</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.battery_change_pose_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.battery_change_pose_command" title="Permalink to this definition"></a></dt>
<dd><p>Command that will have the robot sit down (if not already sitting) and roll onto its side
for easier battery access.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>dir_hint</strong> – Direction to roll over: 1-right/2-left</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.payload_estimation_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">payload_estimation_command</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.payload_estimation_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.payload_estimation_command" title="Permalink to this definition"></a></dt>
<dd><p>Command to get the robot estimate payload mass.</p>
<p>Commands robot to stand and execute a routine to estimate the mass properties of an
unregistered payload attached to the robot.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.safe_power_off_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">safe_power_off_command</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.safe_power_off_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.safe_power_off_command" title="Permalink to this definition"></a></dt>
<dd><p>Command to get robot into a position where it is safe to power down, then power down. If
the robot has fallen, it will power down directly. If the robot is not in a safe position,
it will get to a safe position before powering down. The robot will not power down until it
is in a safe state.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.constrained_manipulation_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">constrained_manipulation_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">task_type</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">init_wrench_direction_in_frame_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">force_limit</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">torque_limit</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tangential_speed=None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rotational_speed=None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target_linear_position=None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target_angle=None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">control_mode=2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">reset_estimator=value:</span> <span class="pre">true</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.constrained_manipulation_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.constrained_manipulation_command" title="Permalink to this definition"></a></dt>
<dd><p>Command constrained manipulation.</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.joint_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">joint_command</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.joint_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.joint_command" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.synchro_se2_trajectory_point_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">synchro_se2_trajectory_point_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">goal_x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_heading</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">params</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">body_height</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">locomotion_hint</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.synchro_se2_trajectory_point_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.synchro_se2_trajectory_point_command" title="Permalink to this definition"></a></dt>
<dd><p>Command robot to move to pose along a 2D plane. Pose can be specified in the world
(kinematic odometry) frame or the robot body frame. The arguments body_height and
locomotion_hint are ignored if params argument is passed.</p>
<p>A trajectory command requires an end time. End time is not set in this function, but rather
is set externally before call to RobotCommandService.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>goal_x</strong> – Position X coordinate.</p></li>
<li><p><strong>goal_y</strong> – Position Y coordinate.</p></li>
<li><p><strong>goal_heading</strong> – Pose heading in radians.</p></li>
<li><p><strong>frame_name</strong> – Name of the frame to use.</p></li>
<li><p><strong>params</strong> (<em>spot.MobilityParams</em>) – Spot specific parameters for mobility commands. If not set,
this will be constructed using other args.</p></li>
<li><p><strong>body_height</strong> – Height, meters, relative to a nominal stand height.</p></li>
<li><p><strong>locomotion_hint</strong> – Locomotion hint to use for the trajectory command.</p></li>
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). An
arm_command and gripper_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.synchro_se2_trajectory_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">synchro_se2_trajectory_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">goal_se2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">params</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">body_height</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">locomotion_hint</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.synchro_se2_trajectory_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.synchro_se2_trajectory_command" title="Permalink to this definition"></a></dt>
<dd><p>Command robot to move to pose along a 2D plane. Pose can be specified in the world
(kinematic odometry or vision world) frames. The arguments body_height and
locomotion_hint are ignored if params argument is passed.</p>
<p>A trajectory command requires an end time. End time is not set in this function, but rather
is set externally before call to RobotCommandService.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>goal_se2</strong> – SE2Pose goal.</p></li>
<li><p><strong>frame_name</strong> – Name of the frame to use.</p></li>
<li><p><strong>params</strong> (<em>spot.MobilityParams</em>) – Spot specific parameters for mobility commands. If not set,
this will be constructed using other args.</p></li>
<li><p><strong>body_height</strong> – Height, meters, relative to a nominal stand height.</p></li>
<li><p><strong>locomotion_hint</strong> – Locomotion hint to use for the trajectory command.</p></li>
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). An
arm_command and gripper_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.synchro_trajectory_command_in_body_frame">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">synchro_trajectory_command_in_body_frame</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">goal_x_rt_body</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_y_rt_body</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">goal_heading_rt_body</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_tree_snapshot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">params</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">body_height</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">locomotion_hint</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.synchro_trajectory_command_in_body_frame"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.synchro_trajectory_command_in_body_frame" title="Permalink to this definition"></a></dt>
<dd><p>Command robot to move to pose described relative to the robots body along a 2D plane. For example,
a command to move forward 2 meters at the same heading will have goal_x_rt_body=2.0, goal_y_rt_body=0.0,
goal_heading_rt_body=0.0.</p>
<p>The arguments body_height and locomotion_hint are ignored if params argument is passed. A trajectory
command requires an end time. End time is not set in this function, but rather is set externally before
call to RobotCommandService.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>goal_x_rt_body</strong> – Position X coordinate described relative to the body frame.</p></li>
<li><p><strong>goal_y_rt_body</strong> – Position Y coordinate described relative to the body frame.</p></li>
<li><p><strong>goal_heading_rt_body</strong> – Pose heading in radians described relative to the body frame.</p></li>
<li><p><strong>frame_tree_snapshot</strong> – Dictionary representing the child_to_parent_edge_map describing different
transforms. This can be acquired using the robot state client directly, or using
the robot object’s helper function robot.get_frame_tree_snapshot().</p></li>
<li><p><strong>params</strong> (<em>spot.MobilityParams</em>) – Spot specific parameters for mobility commands. If not set,
this will be constructed using other args.</p></li>
<li><p><strong>body_height</strong> – Height, meters, relative to a nominal stand height.</p></li>
<li><p><strong>locomotion_hint</strong> – Locomotion hint to use for the trajectory command.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>RobotCommand, which can be issued to the robot command service. The go-to point will be converted to a
non-moving world frame (odom frame) to be issued to the robot.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.synchro_velocity_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">synchro_velocity_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">v_x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">v_y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">v_rot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">params</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">body_height</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">locomotion_hint</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'body'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.synchro_velocity_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.synchro_velocity_command" title="Permalink to this definition"></a></dt>
<dd><p>Command robot to move along 2D plane. Velocity should be specified in the robot body
frame. Other frames are currently not supported. The arguments body_height and
locomotion_hint are ignored if params argument is passed.</p>
<p>A velocity command requires an end time. End time is not set in this function, but rather
is set externally before call to RobotCommandService.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>v_x</strong> – Velocity in X direction.</p></li>
<li><p><strong>v_y</strong> – Velocity in Y direction.</p></li>
<li><p><strong>v_rot</strong> – Velocity heading in radians.</p></li>
<li><p><strong>params</strong> (<em>spot.MobilityParams</em>) – Spot specific parameters for mobility commands. If not set,
this will be constructed using other args.</p></li>
<li><p><strong>body_height</strong> – Height, meters, relative to a nominal stand height.</p></li>
<li><p><strong>locomotion_hint</strong> – Locomotion hint to use for the velocity command.</p></li>
<li><p><strong>frame_name</strong> – Name of the frame to use.</p></li>
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). An
arm_command and gripper_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.synchro_stand_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">synchro_stand_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">params=None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">body_height=0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">footprint_R_body=&lt;bosdyn.geometry.EulerZXY</span> <span class="pre">object&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command=None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.synchro_stand_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.synchro_stand_command" title="Permalink to this definition"></a></dt>
<dd><p>Command robot to stand. If the robot is sitting, it will stand up. If the robot is
moving, it will come to a stop. Params can specify a trajectory for the body to follow
while standing. In the simplest case, this can be a specific position+orientation which the
body will hold at. The arguments body_height and footprint_R_body are ignored if params
argument is passed.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>params</strong> (<em>spot.MobilityParams</em>) – Spot specific parameters for mobility commands. If not set,
this will be constructed using other args.</p></li>
<li><p><strong>body_height</strong> (<em>float</em>) – Height, meters, to stand at relative to a nominal stand height.</p></li>
<li><p><strong>footprint_R_body</strong> (<a class="reference internal" href="../../../../bosdyn-core/src/bosdyn/geometry.html#bosdyn.geometry.EulerZXY" title="bosdyn.geometry.EulerZXY"><em>EulerZXY</em></a>) – The orientation of the body frame with respect to the
footprint frame (gravity aligned framed with yaw computed from the stance feet)</p></li>
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). An
arm_command and gripper_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.synchro_sit_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">synchro_sit_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">params</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.synchro_sit_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.synchro_sit_command" title="Permalink to this definition"></a></dt>
<dd><p>Command the robot to sit.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>params</strong> (<em>spot.MobilityParams</em>) – Spot specific parameters for mobility commands.</p></li>
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). An
arm_command and gripper_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.stance_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">stance_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">se2_frame_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos_fl_rt_frame</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos_fr_rt_frame</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos_hl_rt_frame</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos_hr_rt_frame</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">accuracy=0.05</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">params=None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">body_height=0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">footprint_R_body=&lt;bosdyn.geometry.EulerZXY</span> <span class="pre">object&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command=None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.stance_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.stance_command" title="Permalink to this definition"></a></dt>
<dd><p>Command robot to stance with the feet at specified positions.
This will cause the robot to reposition its feet. This is not intended to be a mobility
command and will reject commands where the foot position is out of reach without locomoting.
To stance at a far location, try using SE2TrajectoryCommand to safely put the robot at the
correct location first.</p>
<p>Params can specify a trajectory for the body to follow
while stancing. In the simplest case, this can be a specific position+orientation which the
body will hold at. The arguments body_height and footprint_R_body are ignored if params
argument is passed.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>se2_frame_name</strong> (<em>string</em>) – The frame name which the desired foot_positions are described in.</p></li>
<li><p><strong>pos_fl_rt_frame</strong> (<a class="reference internal" href="math_helpers.html#bosdyn.client.math_helpers.Vec2" title="bosdyn.client.math_helpers.Vec2"><em>Vec2</em></a>) – Position of front left foot in specified frame.</p></li>
<li><p><strong>pos_fr_rt_frame</strong> (<a class="reference internal" href="math_helpers.html#bosdyn.client.math_helpers.Vec2" title="bosdyn.client.math_helpers.Vec2"><em>Vec2</em></a>) – Position of front right foot in specified frame.</p></li>
<li><p><strong>pos_hl_rt_frame</strong> (<a class="reference internal" href="math_helpers.html#bosdyn.client.math_helpers.Vec2" title="bosdyn.client.math_helpers.Vec2"><em>Vec2</em></a>) – Position of rear left foot in specified frame.</p></li>
<li><p><strong>pos_hr_rt_frame</strong> (<a class="reference internal" href="math_helpers.html#bosdyn.client.math_helpers.Vec2" title="bosdyn.client.math_helpers.Vec2"><em>Vec2</em></a>) – Position of rear right foot in specified frame.</p></li>
<li><p><strong>accuracy</strong> (<em>float</em>) – Required foot positional accuracy in meters</p></li>
<li><p><strong>params</strong> (<em>spot.MobilityParams</em>) – Spot specific parameters for mobility commands. If not set,
this will be constructed using other args.</p></li>
<li><p><strong>body_height</strong> (<em>float</em>) – Height, meters, to stand at relative to a nominal stand height.</p></li>
<li><p><strong>footprint_R_body</strong> (<a class="reference internal" href="../../../../bosdyn-core/src/bosdyn/geometry.html#bosdyn.geometry.EulerZXY" title="bosdyn.geometry.EulerZXY"><em>EulerZXY</em></a>) – The orientation of the body frame with respect to the
footprint frame (gravity aligned framed with yaw computed from the stance feet)</p></li>
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). An
arm_command and gripper_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.follow_arm_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">follow_arm_command</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.follow_arm_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.follow_arm_command" title="Permalink to this definition"></a></dt>
<dd><p>Command robot’s body to follow the arm around.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>params</strong> (<em>spot.MobilityParams</em>) – Spot specific parameters for mobility commands.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.arm_stow_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">arm_stow_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.arm_stow_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.arm_stow_command" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.arm_ready_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">arm_ready_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.arm_ready_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.arm_ready_command" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.arm_carry_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">arm_carry_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.arm_carry_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.arm_carry_command" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.arm_gaze_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">arm_gaze_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame2_tform_desired_hand</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame2_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_linear_vel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_angular_vel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_accel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.arm_gaze_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.arm_gaze_command" title="Permalink to this definition"></a></dt>
<dd><p>Builds a Vec3Trajectory to tell the robot arm to gaze at a point in 3D space.
:returns: RobotCommand, which can be issued to the robot command service</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.arm_pose_command_from_pose">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">arm_pose_command_from_pose</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">hand_pose</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">seconds</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">5</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.arm_pose_command_from_pose"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.arm_pose_command_from_pose" title="Permalink to this definition"></a></dt>
<dd><p>Builds an SE3Trajectory Point to tell robot arm to move to a pose in space
relative to the frame specified. Wraps it in SynchronizedCommand.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>hand_pose</strong> (<em>geometry_pb2.SE3Pose</em>) – Protobuf message specifying the desired pose of the
hand.</p></li>
<li><p><strong>frame_name</strong> (<em>string</em>) – Name of the frame relative to which <cite>hand_pose</cite> is expressed.</p></li>
<li><p><strong>seconds</strong> (<em>float</em>) – Requested duration of the arm move.</p></li>
<li><p><strong>build_on_command</strong> (<em>robot_command_pb2.RobotCommand</em>) – Optional RobotCommand (not
containing a full_body_command). A mobility_command and gripper_command from
<cite>build_on_command</cite> will be added to the RobotCommand returned by this function.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.arm_pose_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">arm_pose_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">qw</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">qx</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">qy</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">qz</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">seconds</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">5</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.arm_pose_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.arm_pose_command" title="Permalink to this definition"></a></dt>
<dd><p>Builds an SE3Trajectory Point to tell robot arm to move to a pose in space
relative to the frame specified. Wraps it in SynchronizedCommand.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.arm_wrench_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">arm_wrench_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">force_x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">force_y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">force_z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">torque_x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">torque_y</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">torque_z</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">seconds</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">5</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.arm_wrench_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.arm_wrench_command" title="Permalink to this definition"></a></dt>
<dd><dl class="simple">
<dt>Builds a command to tell robot arm to exhibit a wrench.</dt><dd><p>Wraps it in a SynchronizedCommand.</p>
</dd>
</dl>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>RobotCommand, which can be issued to the robot command service.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.claw_gripper_open_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">claw_gripper_open_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_acc</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_vel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.claw_gripper_open_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.claw_gripper_open_command" title="Permalink to this definition"></a></dt>
<dd><p>Builds a command to open the gripper.  Wraps it in SynchronizedCommand.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). An
arm_command and mobility_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p></li>
<li><p><strong>max_acc</strong> – Optional maximum allowable gripper acceleration. Not setting this will lead to the
robot using a relatively safe low default. If the user is sure their gripper
trajectory is safe and achievable, this can be set to a large value so it
doesn’t get in the way.</p></li>
<li><p><strong>max_vel</strong> – Optional maximum allowable gripper velocity. Same thing about defaults as max_acc.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>robot_command_pb2.RobotCommand with a claw_gripper_command filled out.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.claw_gripper_close_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">claw_gripper_close_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_acc</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_vel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">disable_force_on_contact</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_torque</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.claw_gripper_close_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.claw_gripper_close_command" title="Permalink to this definition"></a></dt>
<dd><p>Builds a command to close the gripper.  Wraps it in SynchronizedCommand.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). An
arm_command and mobility_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p></li>
<li><p><strong>max_acc</strong> – Optional maximum allowable gripper acceleration. Not setting this will lead to the
robot using a relatively safe low default. If the user is sure their gripper
trajectory is safe and achievable, this can be set to a large value so it
doesn’t get in the way.</p></li>
<li><p><strong>max_vel</strong> – Optional maximum allowable gripper velocity. Same thing about defaults as max_acc.</p></li>
<li><p><strong>disable_force_on_contact</strong> – Whether to switch the gripper to force control on contact detection.</p></li>
<li><p><strong>max_torque</strong> – Optional Maximum torque applied if contact detected closing the gripper. If
unspecified, a default value of 5.5 (Nm) will be used.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>robot_command_pb2.RobotCommand with a claw_gripper_command filled out.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.claw_gripper_open_fraction_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">claw_gripper_open_fraction_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">open_fraction</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_acc</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_vel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">disable_force_on_contact</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_torque</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.claw_gripper_open_fraction_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.claw_gripper_open_fraction_command" title="Permalink to this definition"></a></dt>
<dd><p>Builds a command to set the gripper using a fractional input.  Wraps it in SynchronizedCommand.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>open_fraction</strong> – Percentage [0, 1] to open the gripper.  0 fully closed, 1 fully open.</p></li>
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). An
arm_command and mobility_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p></li>
<li><p><strong>max_acc</strong> – Optional maximum allowable gripper acceleration. Not setting this will lead to the
robot using a relatively safe low default. If the user is sure their gripper
trajectory is safe and achievable, this can be set to a large value so it
doesn’t get in the way.</p></li>
<li><p><strong>max_vel</strong> – Optional maximum allowable gripper velocity. Same thing about defaults as max_acc.</p></li>
<li><p><strong>disable_force_on_contact</strong> – Whether to switch the gripper to force control on contact detection.</p></li>
<li><p><strong>max_torque</strong> – Optional Maximum torque applied if contact detected closing the gripper. If
unspecified, a default value of 5.5 (Nm) will be used.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>robot_command_pb2.RobotCommand with a claw_gripper_command filled out.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.claw_gripper_open_angle_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">claw_gripper_open_angle_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">gripper_q</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_acc</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_vel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">disable_force_on_contact</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_torque</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.claw_gripper_open_angle_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.claw_gripper_open_angle_command" title="Permalink to this definition"></a></dt>
<dd><p>Builds a command to set the gripper open angle.  Wraps it in SynchronizedCommand.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>gripper_q</strong> – [-1.5708, 0] where -1.5708 is fully open and 0 is fully closed.</p></li>
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). An
arm_command and mobility_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p></li>
<li><p><strong>max_acc</strong> – Optional maximum allowable gripper acceleration. Not setting this will lead to the
robot using a relatively safe low default. If the user is sure their gripper
trajectory is safe and achievable, this can be set to a large value so it
doesn’t get in the way.</p></li>
<li><p><strong>max_vel</strong> – Optional maximum allowable gripper velocity. Same thing about defaults as max_acc.</p></li>
<li><p><strong>disable_force_on_contact</strong> – Whether to switch the gripper to force control on contact detection.</p></li>
<li><p><strong>max_torque</strong> – Optional Maximum torque applied if contact detected closing the gripper. If
unspecified, a default value of 5.5 (Nm) will be used.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>robot_command_pb2.RobotCommand with a claw_gripper_command filled out.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.create_arm_joint_trajectory_point">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">create_arm_joint_trajectory_point</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">sh0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sh1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">el0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">el1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">wr0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">wr1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">time_since_reference_secs</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.create_arm_joint_trajectory_point"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.create_arm_joint_trajectory_point" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.arm_joint_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">arm_joint_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">sh0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sh1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">el0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">el1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">wr0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">wr1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_vel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_accel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.arm_joint_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.arm_joint_command" title="Permalink to this definition"></a></dt>
<dd></dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.arm_joint_move_helper">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">arm_joint_move_helper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_positions</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">times</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_velocities</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ref_time</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_acc</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_vel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.arm_joint_move_helper"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.arm_joint_move_helper" title="Permalink to this definition"></a></dt>
<dd><p>Given a set of joint positions, times, and optional velocity, create a synchro command.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>joint_positions</strong> – A list of length N with joint positions at each knot point in our
trajectory. Each knot joint position is represented as a list of length 6,
representing the 6 joint angles [sh0, sh1, el0, el1, wr0, wr1]</p></li>
<li><p><strong>times</strong> – A list of length N with the corresponding time_since_reference for each of our knots</p></li>
<li><p><strong>joint_velocities</strong> – Optional joint velocities at each knot. Same structure as joint_positions</p></li>
<li><p><strong>ref_time</strong> – Optional robot reference time. If unset, we’ll use the current synchronized robot
time. Setting this is useful for getting a consistent trajectory over a long
period of time when many ArmJointMoveRequest commands are chained together.</p></li>
<li><p><strong>max_acc</strong> – Optional maximum allowable joint acceleration. Not setting this will lead to the
robot using a relatively safe low default. If the user is sure their joint
trajectory is safe and achievable, this can be set to a large value so it
doesn’t get in the way.</p></li>
<li><p><strong>max_vel</strong> – Optional maximum allowable joint velocity. Same thing about defaults as max_acc</p></li>
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). A
mobility_command and gripper_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>robot_command_pb2.RobotCommand with an arm_joint_move_command filled out.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.arm_cartesian_move_helper">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">arm_cartesian_move_helper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">se3_poses</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">times</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">root_frame_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">wrist_tform_tool</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">root_tform_task</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">se3_velocities</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ref_time</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_acc</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_linear_vel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_angular_vel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.arm_cartesian_move_helper"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.arm_cartesian_move_helper" title="Permalink to this definition"></a></dt>
<dd><dl class="simple">
<dt>Given a set of SE3Poses, times, and optional velocities, create a synchro command</dt><dd><p>containing an arm_cartesian_command.</p>
</dd>
</dl>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>se3_poses</strong> (<em>geometry_pb2.SE3Pose</em>) – A list of length N with SE3 transforms at each knot point in our
trajectory.</p></li>
<li><p><strong>times</strong> – A list of length N with the corresponding time_since_reference for
each of our knots.</p></li>
<li><p><strong>root_frame_name</strong> – The name of the root frame. It must be a valid frame name in the
frame_tree.</p></li>
<li><p><strong>wrist_tform_tool</strong> (<em>geometry_pb2.SE3Pose</em>) – The optional tool pose to use during the move. If unset, defaults to
a pose slightly in front of the gripper’s palm plate aligned with the wrist’s
orientation.</p></li>
<li><p><strong>root_tform_task</strong> (<em>geometry_pb2.SE3Pose</em>) – The SE3 transform between the root and the task frame.
If unset, it will treat the root frame as the task frame.</p></li>
<li><p><strong>se3_velocities</strong> (<em>geometry_pb2.SE3Velocity</em>) – An optional list of length N with SE3 velocities at each knot point in
our trajectory.</p></li>
<li><p><strong>ref_time</strong> – Optional reference time for the trajectory gotten from the computer. If unset, we’ll use the current
robot-synchronized time</p></li>
<li><p><strong>max_acc</strong> – Optional maximum allowable linear acceleration (m/s^2).</p></li>
<li><p><strong>max_linear_vel</strong> – Optional maximum allowable linear velocity (m/s).</p></li>
<li><p><strong>max_angular_vel</strong> – Optional maximum allowable angular velocity (rad/s).</p></li>
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand for synchronous commands.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>robot_command_pb2.RobotCommand with an arm_cartesian_command filled out.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.claw_gripper_command_helper">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">claw_gripper_command_helper</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">gripper_positions</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">times</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">gripper_velocities</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ref_time</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_acc</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_vel</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">disable_force_on_contact</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_torque</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.claw_gripper_command_helper"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.claw_gripper_command_helper" title="Permalink to this definition"></a></dt>
<dd><p>Given a set of gripper positions, times, and optional velocities, create a synchro command.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>gripper_positions</strong> – A list of length N with joint positions at each knot point in our
trajectory.</p></li>
<li><p><strong>times</strong> – A list of length N with the corresponding time_since_reference for each of our knots</p></li>
<li><p><strong>gripper_velocities</strong> – Optional joint velocities at each knot. Same structure as gripper_positions.</p></li>
<li><p><strong>ref_time</strong> – Optional robot reference time. If unset, we’ll use the current synchronized robot
time. Setting this is useful for getting a consistent trajectory over a long
period of time when many ClawGripperCommandRequest commands are chained together.</p></li>
<li><p><strong>max_acc</strong> – Optional maximum allowable gripper acceleration. Not setting this will lead to the
robot using a relatively safe low default. If the user is sure their gripper
trajectory is safe and achievable, this can be set to a large value so it
doesn’t get in the way.</p></li>
<li><p><strong>max_vel</strong> – Optional maximum allowable gripper velocity. Same thing about defaults as max_acc.</p></li>
<li><p><strong>disable_force_on_contact</strong> – Whether to switch the gripper to force control on contact detection.</p></li>
<li><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). An
arm_command and mobility_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p></li>
<li><p><strong>max_torque</strong> – Optional Maximum torque applied if contact detected closing the gripper. If
unspecified, a default value of 5.5 (Nm) will be used.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>robot_command_pb2.RobotCommand with a claw_gripper_command filled out.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.arm_joint_freeze_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">arm_joint_freeze_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">build_on_command</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.arm_joint_freeze_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.arm_joint_freeze_command" title="Permalink to this definition"></a></dt>
<dd><p>Returns a RobotCommand with an ArmCommand that will freeze the arm’s joints in place.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>build_on_command</strong> – Option to input a RobotCommand (not containing a full_body_command). An
arm_command and mobility_command from this incoming RobotCommand will be added
to the returned RobotCommand.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>robot_command_pb2.RobotCommand</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.mobility_params">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">mobility_params</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">body_height=0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">footprint_R_body=&lt;bosdyn.geometry.EulerZXY</span> <span class="pre">object&gt;</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">locomotion_hint=1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stair_hint=False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">external_force_params=None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stairs_mode=None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.mobility_params"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.mobility_params" title="Permalink to this definition"></a></dt>
<dd><p>Helper to create Mobility params for spot mobility commands. This function is designed
to help get started issuing commands, but lots of options are not exposed via this
interface. See spot.robot_command_pb2 for more details. If unset, good defaults will be
chosen by the robot.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>body_height</strong> – Height, meters, relative to a nominal stand height.</p></li>
<li><p><strong>footprint_R_body</strong> (<a class="reference internal" href="../../../../bosdyn-core/src/bosdyn/geometry.html#bosdyn.geometry.EulerZXY" title="bosdyn.geometry.EulerZXY"><em>EulerZXY</em></a>) – The orientation of the body frame with respect to the
footprint frame (gravity aligned framed with yaw computed
from the stance feet)</p></li>
<li><p><strong>locomotion_hint</strong> – Locomotion hint to use for the command.</p></li>
<li><p><strong>stair_hint</strong> – Boolean to specify if stair mode should be used. Deprecated in favor of stairs_mode
and ignored if stairs_mode set.</p></li>
<li><p><strong>external_force_params</strong> (<em>spot.BodyExternalForceParams</em>) – Robot body external force
parameters.</p></li>
<li><p><strong>stairs_mode</strong> – StairsMode enum specifying stairs mode as On, Auto, or Off.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>spot.MobilityParams, params for spot mobility commands.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.body_pose">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">body_pose</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">body_pose</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.body_pose"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.body_pose" title="Permalink to this definition"></a></dt>
<dd><p>Helper to create a BodyControlParams.BodyPose from a single desired <cite>body_pose</cite> relative to <cite>frame_name</cite>.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>frame_name</strong> (<em>string</em>) – Name of the frame relative to which <cite>body_pose</cite> is expressed.</p></li>
<li><p><strong>body_pose</strong> (<em>geometry_pb2.SE3Pose</em>) – Protobuf message specifying the desired pose of the
body.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>spot.BodyControlParams.BodyPose, specifies the desired body pose for a StandCommand</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.build_body_external_forces">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">build_body_external_forces</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">external_force_indicator</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">override_external_force_vec</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.build_body_external_forces"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.build_body_external_forces" title="Permalink to this definition"></a></dt>
<dd><p>Helper to create Mobility params.</p>
<p>This function allows the user to enable an external force estimator, or set a vector of
forces (in the body frame) which override the estimator with constant external forces.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>external_force_indicator</strong> – Indicates if the external force estimator should be
enabled/disabled or an override force should be used. Can be
specified as one of three values:
spot_command_pb2.BodyExternalForceParams.{
EXTERNAL_FORCE_NONE, EXTERNAL_FORCE_USE_ESTIMATE,
EXTERNAL_FORCE_USE_OVERRIDE }</p></li>
<li><p><strong>override_external_force_vec</strong> – x/y/z list of forces in the body frame. Only used when the
indicator specifies EXTERNAL_FORCE_USE_OVERRIDE</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>spot.MobilityParams, params for spot mobility commands.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.RobotCommandBuilder.build_synchro_command">
<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">build_synchro_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#RobotCommandBuilder.build_synchro_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.RobotCommandBuilder.build_synchro_command" title="Permalink to this definition"></a></dt>
<dd><p>Combines multiple commands into one command. There’s no intelligence here on
duplicate commands.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>commands</strong> (<em>RobotCommand containing only either mobility commands</em><em> or </em><em>synchro</em>) – </p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>RobotCommand containing a synchro command</p>
</dd>
</dl>
</dd></dl>

</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.blocking_command">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">blocking_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command_client</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">command</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">check_status_fn</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">end_time_secs</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout_sec</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">10</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">update_frequency</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#blocking_command"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.blocking_command" title="Permalink to this definition"></a></dt>
<dd><p>Helper function which uses the RobotCommandService to execute the given command.</p>
<p>Blocks until check_status_fn return true, or raises an exception if the command times out or fails.
This helper checks the main full_body/synchronized command status (RobotCommandFeedbackStatus), but
the caller should check the status of the specific commands (stand, stow, selfright, etc.) in the callback.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>command_client</strong> – RobotCommand client.</p></li>
<li><p><strong>command</strong> – The robot command to issue to the robot.</p></li>
<li><p><strong>check_status_fn</strong> – A callback that accepts RobotCommandFeedbackResponse and returns True when the
correct statuses are achieved for the specific requested command and throws
CommandFailedErrorWithFeedback if an error state occurs.</p></li>
<li><p><strong>end_time_sec</strong> – The local end time of the command (will be converted to robot time)</p></li>
<li><p><strong>timeout_sec</strong> – Timeout for the rpc in seconds.</p></li>
<li><p><strong>update_frequency</strong> – Update frequency for the command in Hz.</p></li>
</ul>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><ul class="simple">
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.CommandFailedErrorWithFeedback" title="bosdyn.client.robot_command.CommandFailedErrorWithFeedback"><strong>CommandFailedErrorWithFeedback</strong></a> – Command feedback from robot is not STATUS_PROCESSING.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.CommandTimedOutError" title="bosdyn.client.robot_command.CommandTimedOutError"><strong>bosdyn.client.robot_command.CommandTimedOutError</strong></a> – Command took longer than provided
    timeout.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.blocking_stand">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">blocking_stand</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command_client</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout_sec</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">10</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">update_frequency</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">params</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#blocking_stand"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.blocking_stand" title="Permalink to this definition"></a></dt>
<dd><p>Helper function which uses the RobotCommandService to stand.</p>
<p>Blocks until robot is standing, or raises an exception if the command times out or fails.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>command_client</strong> – RobotCommand client.</p></li>
<li><p><strong>timeout_sec</strong> – Timeout for the command in seconds.</p></li>
<li><p><strong>update_frequency</strong> – Update frequency for the command in Hz.</p></li>
<li><p><strong>params</strong> (<em>spot.MobilityParams</em>) – Spot specific parameters for mobility commands to optionally set say body_height</p></li>
</ul>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><ul class="simple">
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.CommandFailedErrorWithFeedback" title="bosdyn.client.robot_command.CommandFailedErrorWithFeedback"><strong>CommandFailedErrorWithFeedback</strong></a> – Command feedback from robot is not STATUS_PROCESSING.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.CommandTimedOutError" title="bosdyn.client.robot_command.CommandTimedOutError"><strong>bosdyn.client.robot_command.CommandTimedOutError</strong></a> – Command took longer than provided
    timeout.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.blocking_sit">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">blocking_sit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command_client</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout_sec</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">10</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">update_frequency</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#blocking_sit"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.blocking_sit" title="Permalink to this definition"></a></dt>
<dd><p>Helper function which uses the RobotCommandService to sit.</p>
<p>Blocks until robot is sitting, or raises an exception if the command times out or fails.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>command_client</strong> – RobotCommand client.</p></li>
<li><p><strong>timeout_sec</strong> – Timeout for the command in seconds.</p></li>
<li><p><strong>update_frequency</strong> – Update frequency for the command in Hz.</p></li>
</ul>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><ul class="simple">
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.CommandFailedErrorWithFeedback" title="bosdyn.client.robot_command.CommandFailedErrorWithFeedback"><strong>CommandFailedErrorWithFeedback</strong></a> – Command feedback from robot is not STATUS_PROCESSING.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.CommandTimedOutError" title="bosdyn.client.robot_command.CommandTimedOutError"><strong>bosdyn.client.robot_command.CommandTimedOutError</strong></a> – Command took longer than provided
    timeout.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.blocking_selfright">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">blocking_selfright</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command_client</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout_sec</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">30</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">update_frequency</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#blocking_selfright"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.blocking_selfright" title="Permalink to this definition"></a></dt>
<dd><p>Helper function which uses the RobotCommandService to self-right.</p>
<p>Blocks until self-right has completed, or raises an exception if the command times out or fails.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>command_client</strong> – RobotCommand client.</p></li>
<li><p><strong>timeout_sec</strong> – Timeout for the command in seconds.</p></li>
<li><p><strong>update_frequency</strong> – Update frequency for the command in Hz.</p></li>
</ul>
</dd>
<dt class="field-even">Raises<span class="colon">:</span></dt>
<dd class="field-even"><ul class="simple">
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.CommandFailedErrorWithFeedback" title="bosdyn.client.robot_command.CommandFailedErrorWithFeedback"><strong>CommandFailedErrorWithFeedback</strong></a> – Command feedback from robot is not STATUS_PROCESSING.</p></li>
<li><p><a class="reference internal" href="#bosdyn.client.robot_command.CommandTimedOutError" title="bosdyn.client.robot_command.CommandTimedOutError"><strong>bosdyn.client.robot_command.CommandTimedOutError</strong></a> – Command took longer than provided
    timeout.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.block_until_arm_arrives">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">block_until_arm_arrives</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command_client</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">cmd_id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout_sec</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#block_until_arm_arrives"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.block_until_arm_arrives" title="Permalink to this definition"></a></dt>
<dd><p>Helper that blocks until the arm achieves a finishing state for the specific arm command.</p>
<p>This helper will block and check the feedback for ArmCartesianCommand, GazeCommand,
ArmJointMoveCommand, NamedArmPositionsCommand, and ArmImpedanceCommand.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>command_client</strong> – robot command client, used to request feedback</p></li>
<li><p><strong>cmd_id</strong> – command ID returned by the robot when the arm movement command was sent.</p></li>
<li><p><strong>timeout_sec</strong> – optional number of seconds after which we’ll return no matter what
the robot’s state is.</p></li>
</ul>
</dd>
</dl>
<dl class="simple">
<dt>Return values:</dt><dd><p>True if successfully got to the end of the trajectory, False if the arm stalled or
the move was canceled (the arm failed to reach the goal). See the proto definitions in
arm_command.proto for more information about why a trajectory would succeed or fail.</p>
</dd>
</dl>
</dd></dl>

<dl class="py function">
<dt class="sig sig-object py" id="bosdyn.client.robot_command.block_for_trajectory_cmd">
<span class="sig-prename descclassname"><span class="pre">bosdyn.client.robot_command.</span></span><span class="sig-name descname"><span class="pre">block_for_trajectory_cmd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command_client</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">cmd_id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">trajectory_end_statuses</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(1,)</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">body_movement_statuses</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">feedback_interval_secs</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout_sec</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">logger</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../../../../../_modules/bosdyn/client/robot_command.html#block_for_trajectory_cmd"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#bosdyn.client.robot_command.block_for_trajectory_cmd" title="Permalink to this definition"></a></dt>
<dd><p>Helper that blocks until a trajectory command reaches a desired goal state or a timeout is reached.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>command_client</strong> (<a class="reference internal" href="#bosdyn.client.robot_command.RobotCommandClient" title="bosdyn.client.robot_command.RobotCommandClient"><em>RobotCommandClient</em></a>) – the client used to request feedback</p></li>
<li><p><strong>cmd_id</strong> (<em>int</em>) – command ID returned by the robot when the trajectory command was sent</p></li>
<li><p><strong>trajectory_end_statuses</strong> (<em>set</em><em> of </em><em>SE2TrajectoryCommand.Feedback.Status</em>) – the feedback must have a
status which is included in this set of statuses to be considered successfully complete.
By default, this includes only the “STATUS_STOPPED” end condition.</p></li>
<li><p><strong>body_movement_statuses</strong> (<em>set</em><em> of </em><em>SE2TrajectoryCommand.Feedback.BodyMovementStatus</em>) – the body
movement status must be one of these statuses to be considered successfully complete. By
default, this is “None”, which means any body movement status will be accepted.</p></li>
<li><p><strong>feedback_interval_secs</strong> (<em>float</em>) – The time (in seconds) to wait before each feedback request checking
if the trajectory is complete. Defaults to checking at 10 Hz (requests every 0.1 seconds).</p></li>
<li><p><strong>timeout_sec</strong> (<em>float</em>) – optional number of seconds after which we’ll return no matter what the
robot’s state is.</p></li>
<li><p><strong>logger</strong> (<em>logging.Logger</em>) – The logger print debug statements with. If none, no debug printouts
will be sent.</p></li>
</ul>
</dd>
</dl>
<dl class="simple">
<dt>Return values:</dt><dd><p>True if reaches STATUS_STOPPED, False otherwise.</p>
</dd>
</dl>
</dd></dl>

</section>


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